GD32-based steering engine control system

Abstract

The utility model relates to the technical field of steering engine control systems, in particular to a steering engine control system based on GD32, a GD32 control panel comprises a plurality of control groups, each control group comprises an angular position sensor and a brushless direct current motor, the brushless direct current motor is connected with the GD32 control panel through the angular position sensor, the highest working frequency of a chip can reach 180MHZ, and the control groups are connected with the brushless direct current motor through the angular position sensors. Due to the fact that the chip integrates rich internal resources, hardware junction design is simpler, system power consumption is greatly reduced, ADC sampling precision of the GD32 is 12 bits, the GD32 is a successive approximation type analog-to-digital converter, and conversion of all channels can be executed in a single-time mode or a continuous mode or a scanning mode or an intermittent mode. Besides, multiple conversion modes are selected, DMA data transmission is supported, and the GD32 is provided with multiple standard USART serial communication interfaces; each interface is simple, the use is convenient, a GD32 core processor is adopted to automatically control the four-way steering engine according to an instruction, and the integration of intelligent and automatic operation is realized.

Description

Technical Field

[0001] This utility model relates to the field of servo control system technology, and in particular to a servo control system based on GD32. Background Technology

[0002] The dense deployment of various aircraft, drones, submarines, robots and other intelligent devices in a certain area has become the norm, and such application scenarios have placed higher demands on the field of servo control.

[0003] Traditional servo systems often suffer from energy waste, environmental pollution, and excessive size, and can no longer meet the integrated development needs of intelligent, automated, and comprehensive safety assurance. Utility Model Content

[0004] The main objective of this invention is to provide a servo control system based on GD32 to solve the problems of energy waste, environmental pollution, and excessive size in related technologies.

[0005] To achieve the above objectives, according to one aspect of the present invention, a servo control system based on GD32 is provided, comprising: a GD32 control board, the GD32 control board including several control groups, the control groups including an angular position sensor and a brushless DC motor, the brushless DC motor being connected to the GD32 control board through the angular position sensor;

[0006] The GD32 processor is located on the GD32 control board. The GD32 processor is connected to an EEPROM module and an isolated CANFD. The EEPROM module is connected to the SDA interface of the GD32 processor, and the isolated CANFD is connected to the GPIO pin of the GD32 processor.

[0007] A power management module is used to power the GD32 processor. The power management module includes an energy storage filter, a DC-DC converter, and a low-dropout linear regulator. The energy storage filter is connected to the +Vcc power supply pin and the GND ground pin of the GD32 processor. The DC-DC converter is connected to the VIN power supply pin and the GND ground pin of the GD32 processor. The input terminal VIN and the ground terminal GND of the low-dropout linear regulator are connected to the VIN power supply pin and the GND ground pin of the GD32 processor. The output terminal VOUT of the low-dropout linear regulator is connected to the VCC power supply pin and the GND ground pin of the GD32 processor.

[0008] Furthermore, the power management module is connected to the surge protection and filtering circuit, the voltage and current acquisition circuit, the brushless motor drive circuit, and the overcurrent and short-circuit protection circuit.

[0009] Furthermore, the surge protection circuit and filter circuit consist of a varistor and a T-type filter. One end of the varistor is connected to the positive terminal +Vcc of the power supply, and the other end is connected to the ground terminal GND of the power supply. The positive terminal +Vcc of the power supply is connected to the input terminal of the power management module, and the negative terminal GND of the power supply is connected to the ground terminal of the power management module. The T-type filter consists of an inductor L and two capacitors C1 and C2. The positive terminal +Vcc of the power supply is connected to one end of the inductor L of the T-type filter, and the negative terminal GND of the power supply is connected to the ground terminal of the power management module. The other end of the inductor L is connected to one end of capacitor C1 and one end of capacitor C2. The other end of capacitor C1 is connected to the ground terminal GND of the power supply, and the other end of capacitor C2 is connected to the input terminal of the power management module.

[0010] Furthermore, the voltage and current acquisition circuit includes a current transformer and a voltage acquisition buck filter circuit. The current transformer is connected to the current detection pin of the power management module. The voltage acquisition buck filter circuit consists of a buck converter and a filter. The input terminals of the buck converter and the filter are both connected to the input voltage +Vcc of the power management module. The output terminals of the buck converter and the filter are both connected to the power input terminal of the power management module. The ground terminals of the buck converter and the filter are both connected to the ground terminal GND of the power management module.

[0011] Furthermore, the overcurrent and short-circuit protection circuit is composed of a thermistor. The thermistor and a fixed resistor are connected in series to form a voltage divider circuit. The connection point between the fixed resistor and the thermistor serves as the output signal point Vout, which is connected to the ADC input pin of the power management module.

[0012] Furthermore, the GD32 processor is connected to the host computer via an isolated CANFD.

[0013] Compared with existing technologies, this utility model has the following advantages: The GD32 control board uses the GD32 as its core processor. This processor chip is specifically designed to meet the requirements of industrial control fields that integrate high performance, low power consumption, and competitive pricing. The chip's maximum operating frequency can reach 180MHz. Due to the rich internal resources integrated in this chip, the hardware structure is simpler, and the system power consumption is greatly reduced. The GD32's ADC sampling accuracy is 12 bits, and it is a successive approximation analog-to-digital converter. The conversion of each channel can be performed in single, continuous, scanning, or intermittent modes. In addition, multiple conversion modes are available, supporting DMA data transmission. The GD32 also has multiple standard USART serial communication interfaces. Each interface is simple and easy to use. The GD32 core processor automatically controls four servos according to instructions, realizing intelligent and automated operation. Attached Figure Description

[0014] Figure 1 This is a diagram showing the connection relationships between the modules of this utility model;

[0015] Figure 2 This is a connection diagram of the power management module of this utility model. Detailed Implementation

[0016] To further illustrate the technical means and effects adopted by this utility model in order to achieve the intended utility model purpose, the following detailed description of the specific implementation methods, structure, features and effects of this utility model is provided in conjunction with the accompanying drawings and preferred embodiments.

[0017] Please see Figures 1 to 2 This embodiment provides a servo control system based on GD32, including: a GD32 control board, the GD32 control board including several control groups, the control groups including angular position sensors and brushless DC motors, the brushless DC motors being connected to the GD32 control board through the angular position sensors;

[0018] The GD32 processor is located on the GD32 control board. The GD32 processor is connected to an EEPROM module and an isolated CANFD. The EEPROM module is mainly used for real-time reading and writing of fault information and setting system parameters during system operation. At the same time, external devices can read the system EEPROM information for easy analysis and diagnosis. The GD32 processor, as the processing and control core, mainly completes communication management and parsing and closed-loop control processing of the servo motor. In this embodiment, the GD32 processor with the ARM Cortex-M4 core is preferred because it has a high operating frequency, rich peripherals, and high adaptability.

[0019] The EEPROM module uses an independent EEPROM chip of model AT24C02, and the EEPROM module is connected to the SDA interface of the GD32 processor;

[0020] The isolated CANFD uses an NXP TJA1054AT transceiver and is connected to the GPIO pin of the GD32 processor.

[0021] The power management module is used to power the GD32 processor. The power management module includes an energy storage filter, a DC-DC converter, and a low-dropout linear regulator. The energy storage filter is connected to the power supply pin +Vcc and the ground pin GND of the GD32 processor. The DC-DC converter is connected to the power supply pin VIN and the ground pin GND of the GD32 processor. The input terminal VIN and the ground terminal GND of the low-dropout linear regulator are connected to the power supply pin VIN and the ground pin GND of the GD32 processor. The output terminal VOUT of the low-dropout linear regulator is connected to the power supply pin VCC and the ground pin GND of the GD32 processor.

[0022] The main function of the energy storage filter is to balance and store energy when the bus voltage fluctuates, ensuring that the power supply of the control system is not affected. In this embodiment, an L-type filter is preferred because it has a simple structure and does not have resonance problems. The TPS61040 DC-DC converter is preferred because it has high efficiency, low noise, and low quiescent current, and can adapt to various power conversions. The SGM2210 series low dropout linear regulator is preferred because it has a wide input voltage range and different fixed output voltage versions, including 5V, and an operating temperature range of -40℃ to 125℃.

[0023] The power management module is connected to the surge protection and filtering circuit, voltage and current acquisition circuit, brushless motor drive circuit and overcurrent and short circuit protection circuit. The overcurrent and short circuit protection circuit is internally connected to the overcurrent and short circuit protection circuit.

[0024] The overcurrent and short-circuit protection circuit is composed of a thermistor. The thermistor and a fixed resistor are connected in series to form a voltage divider circuit. The connection point between the fixed resistor and the thermistor serves as the output signal point Vout, which is connected to the ADC input pin of the power management module. The overcurrent and short-circuit protection circuit compares the acquired data with the set parameters to determine whether to disconnect the output, thereby protecting the power management module from damage.

[0025] The surge protection and filtering circuit consists of a varistor and a T-type filter. One end of the varistor is connected to the positive terminal +Vcc of the power supply, and the other end is connected to the ground terminal GND of the power supply. The positive terminal +Vcc of the power supply is connected to the input terminal of the power management module, and the negative terminal GND of the power supply is connected to the ground terminal of the power management module. The T-type filter consists of an inductor L and two capacitors C1 and C2. The positive terminal +Vcc of the power supply is connected to one end of the inductor L of the T-type filter, and the negative terminal GND of the power supply is connected to the ground terminal of the power management module. The other end of the inductor L is connected to... One end of capacitor C1 and one end of capacitor C2 are connected to the power supply ground (GND), and the other end of capacitor C2 is connected to the input terminal of the power management module. This is mainly to facilitate the isolation of power supply faults of various integrated digital servos and reduce the impact of instantaneous surges caused by filtering on the reliability of the bus power supply. The surge protection circuit is equipped with a varistor. When the voltage exceeds the varistor threshold, the resistance will drop rapidly, thereby absorbing the overvoltage energy. The filtering circuit is equipped with a T-type filter, which can provide a steeper roll-off characteristic and better filtering effect.

[0026] The brushless motor drive circuit uses integrated devices to complete the vector control of the three-phase brushless motor based on switch Hall feedback. It has a built-in dead zone control circuit to prevent the upper and lower bridge arms from being erroneously turned on at the same time.

[0027] In the voltage and current acquisition circuit, the current is acquired through a current transformer, and the voltage is divided by a resistor, processed by an operational amplifier circuit, and then filtered to make the signal amplitude range between 0V and 3.3V. The signal is then input to the AD channel of the GD32 for analog signal data acquisition.

[0028] The power management module is the core of the power output for each circuit module.

[0029] The voltage and current acquisition circuit includes a current transformer and a voltage acquisition buck filter circuit. The current transformer is connected to the current detection pin of the power management module. The voltage acquisition buck filter circuit consists of a buck converter and a filter. The input terminals of the buck converter and the filter are both connected to the input voltage +Vcc of the power management module. The output terminals of the buck converter and the filter are both connected to the power input terminal of the power management module. The ground terminals of the buck converter and the filter are both connected to the ground terminal GND of the power management module. The current transformer is equipped with a Hall effect sensor, which indirectly measures the current by detecting changes in the magnetic field. The voltage acquisition buck filter circuit has multiple voltage divider resistors connected in series to proportionally reduce the high voltage to a safe level that can be processed by the ADC (analog-to-digital converter).

[0030] The GD32 processor connects to the host computer via an isolated CANFD interface. The CANFD communication interface communicates with the host computer in an isolated manner, with a speed of up to 5 Mbit / s.

[0031] The angular position sensor uses a magnetically encoded potentiometer, is powered by 3.3V-5V, has a measurement accuracy of 12, and outputs an analog signal to the GD32 processor, which processes the signal and converts it into an angle value.

[0032] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present utility model. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the present utility model shall still fall within the scope of the present utility model.

Claims

1. A servo control system based on GD32, characterized in that, include: The GD32 control board includes several control groups, each control group including an angular position sensor and a brushless DC motor. The brushless DC motor is connected to the GD32 control board through the angular position sensor. The GD32 processor is located on the GD32 control board. The GD32 processor is connected to an EEPROM module and an isolated CANFD. The EEPROM module is connected to the SDA interface of the GD32 processor, and the isolated CANFD is connected to the GPIO pin of the GD32 processor. A power management module is used to power the GD32 processor. The power management module includes an energy storage filter, a DC-DC converter, and a low-dropout linear regulator. The energy storage filter is connected to the +Vcc power supply pin and the GND ground pin of the GD32 processor. The DC-DC converter is connected to the VIN power supply pin and the GND ground pin of the GD32 processor. The input terminal VIN and the ground terminal GND of the low-dropout linear regulator are connected to the VIN power supply pin and the GND ground pin of the GD32 processor. The output terminal VOUT of the low-dropout linear regulator is connected to the VCC power supply pin and the GND ground pin of the GD32 processor.

2. The servo control system based on GD32 according to claim 1, characterized in that, The power management module is connected to the surge protection and filtering circuit, the voltage and current acquisition circuit, the brushless motor drive circuit, and the overcurrent and short circuit protection circuit.

3. The servo control system based on GD32 according to claim 2, characterized in that, The surge protection circuit and filter circuit consist of a varistor and a T-type filter. One end of the varistor is connected to the positive terminal +Vcc of the power supply, and the other end is connected to the ground terminal GND of the power supply. The positive terminal +Vcc of the power supply is connected to the input terminal of the power management module, and the negative terminal GND of the power supply is connected to the ground terminal of the power management module. The T-type filter consists of an inductor L and two capacitors C1 and C2. The positive terminal +Vcc of the power supply is connected to one end of the inductor L of the T-type filter, and the negative terminal GND of the power supply is connected to the ground terminal of the power management module. The other end of the inductor L is connected to one end of capacitor C1 and one end of capacitor C2. The other end of capacitor C1 is connected to the ground terminal GND of the power supply, and the other end of capacitor C2 is connected to the input terminal of the power management module.

4. The servo control system based on GD32 according to claim 2, characterized in that, The voltage and current acquisition circuit includes a current transformer and a voltage acquisition step-down filter circuit. The current transformer is connected to the current detection pin of the power management module. The voltage acquisition step-down filter circuit consists of a step-down converter and a filter. The input terminals of the step-down converter and the filter are both connected to the input voltage +Vcc of the power management module. The output terminals of the step-down converter and the filter are both connected to the power input terminal of the power management module. The ground terminals of the step-down converter and the filter are both connected to the ground terminal GND of the power management module.

5. The servo control system based on GD32 according to claim 2, characterized in that, The overcurrent and short-circuit protection circuit is composed of a thermistor. The thermistor and a fixed resistor are connected in series to form a voltage divider circuit. The connection point between the fixed resistor and the thermistor serves as the output signal point Vout, which is connected to the ADC input pin of the power management module.

6. The servo control system based on GD32 according to claim 1, characterized in that, The GD32 processor is connected to the host computer via an isolated CANFD.

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